joint_trajectory_handler.h
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00001 /*
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00031 
00032 #ifndef JOINT_TRAJECTORY_HANDLER_H
00033 #define JOINT_TRAJECTORY_HANDLER_H
00034 
00035 #include "simple_message/smpl_msg_connection.h"
00036 #include "ros/ros.h"
00037 #include <boost/thread/thread.hpp>
00038 #include <sensor_msgs/JointState.h>
00039 #include <trajectory_msgs/JointTrajectory.h>
00040 
00041 namespace motoman
00042 {
00043 namespace joint_trajectory_handler
00044 {
00045 
00046 namespace JointTrajectoryStates
00047 {
00048 enum JointTrajectoryState
00049 {
00050   IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
00051 };
00052 }
00053 typedef JointTrajectoryStates::JointTrajectoryState JointTrajectoryState;
00054 
00059 //* JointTrajectoryHandler
00065 class JointTrajectoryHandler
00066 {
00067 
00068 public:
00069 
00070   JointTrajectoryHandler();
00071 
00078   JointTrajectoryHandler(ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection* robotConnecton);
00079 
00080   ~JointTrajectoryHandler();
00081 
00082   void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00083   void trajectoryHandler();
00084 
00085   unsigned int getNextTrajectoryPoint(const trajectory_msgs::JointTrajectory& traj,
00086                                       const ros::Time& start,
00087                                       const ros::Time& cur);
00088 
00089 private:
00090 
00091   void trajectoryStop();
00092 
00093   industrial::smpl_msg_connection::SmplMsgConnection* robot_;
00094   ros::Subscriber sub_joint_tranectory_; //subscribe to "command"
00095   ros::NodeHandle node_;
00096 
00097   boost::thread* trajectoryHandler_;
00098   boost::mutex mutex_;int currentPoint;
00099   trajectory_msgs::JointTrajectory current_traj_;
00100   JointTrajectoryState state_;
00101   ros::Time streaming_start_;
00102 
00103   static const int NUM_OF_JOINTS_ = 7;
00104 };
00105 
00106 } //joint_trajectory_handler
00107 } //motoman
00108 
00109 #endif /* JOINT_TRAJECTORY_HANDLER_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36